std_msgs/Header header                  # Time stamp
std_msgs/String body_1_name             # Body 1 name string
std_msgs/UInt32 body_1_id               # Body 1 id
std_msgs/String body_2_name             # Body 2 name string
std_msgs/UInt32 body_2_id               # Body 2 id

geometry_msgs/Wrench body_1_wrench      # Body 1 wrench
geometry_msgs/Wrench body_2_wrench      # Body 2 wrench
